[wpiutil] Move RawFrame to wpiutil; add generation of RawFrame for AprilTags (#5923)

wpiutil/src/main/java/edu/wpi/first/util/RawFrame.java

@@ -0,0 +1,155 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util;
+
+import java.nio.ByteBuffer;
+
+/**
+ * Class for storing raw frame data between image read call.
+ *
+ * <p>Data is reused for each frame read, rather then reallocating every frame.
+ */
+public class RawFrame implements AutoCloseable {
+  private final long m_framePtr;
+  private ByteBuffer m_dataByteBuffer;
+  private long m_dataPtr;
+  private int m_totalData;
+  private int m_width;
+  private int m_height;
+  private int m_pixelFormat;
+
+  /** Construct a new RawFrame. */
+  public RawFrame() {
+    m_framePtr = WPIUtilJNI.allocateRawFrame();
+  }
+
+  /**
+   * Close the RawFrame, releasing native resources. Any images currently using the data will be
+   * invalidated.
+   */
+  @Override
+  public void close() {
+    WPIUtilJNI.freeRawFrame(m_framePtr);
+  }
+
+  /**
+   * Called from JNI to set data in class.
+   *
+   * @param dataByteBuffer A ByteBuffer pointing to the frame data.
+   * @param dataPtr A long (a char* in native code) pointing to the frame data.
+   * @param totalData The total length of the data stored in the frame.
+   * @param width The width of the frame.
+   * @param height The height of the frame.
+   * @param pixelFormat The PixelFormat of the frame.
+   */
+  public void setData(
+      ByteBuffer dataByteBuffer,
+      long dataPtr,
+      int totalData,
+      int width,
+      int height,
+      int pixelFormat) {
+    m_dataByteBuffer = dataByteBuffer;
+    m_dataPtr = dataPtr;
+    m_totalData = totalData;
+    m_width = width;
+    m_height = height;
+    m_pixelFormat = pixelFormat;
+  }
+
+  /**
+   * Get the pointer to native representation of this frame.
+   *
+   * @return The pointer to native representation of this frame.
+   */
+  public long getFramePtr() {
+    return m_framePtr;
+  }
+
+  /**
+   * Get a ByteBuffer pointing to the frame data. This ByteBuffer is backed by the frame directly.
+   * Its lifetime is controlled by the frame. If a new frame gets read, it will overwrite the
+   * current one.
+   *
+   * @return A ByteBuffer pointing to the frame data.
+   */
+  public ByteBuffer getDataByteBuffer() {
+    return m_dataByteBuffer;
+  }
+
+  /**
+   * Get a long (is a char* in native code) pointing to the frame data. This pointer is backed by
+   * the frame directly. Its lifetime is controlled by the frame. If a new frame gets read, it will
+   * overwrite the current one.
+   *
+   * @return A long pointing to the frame data.
+   */
+  public long getDataPtr() {
+    return m_dataPtr;
+  }
+
+  /**
+   * Get the total length of the data stored in the frame.
+   *
+   * @return The total length of the data stored in the frame.
+   */
+  public int getTotalData() {
+    return m_totalData;
+  }
+
+  /**
+   * Get the width of the frame.
+   *
+   * @return The width of the frame.
+   */
+  public int getWidth() {
+    return m_width;
+  }
+
+  /**
+   * Set the width of the frame.
+   *
+   * @param width The width of the frame.
+   */
+  public void setWidth(int width) {
+    this.m_width = width;
+  }
+
+  /**
+   * Get the height of the frame.
+   *
+   * @return The height of the frame.
+   */
+  public int getHeight() {
+    return m_height;
+  }
+
+  /**
+   * Set the height of the frame.
+   *
+   * @param height The height of the frame.
+   */
+  public void setHeight(int height) {
+    this.m_height = height;
+  }
+
+  /**
+   * Get the PixelFormat of the frame.
+   *
+   * @return The PixelFormat of the frame.
+   */
+  public int getPixelFormat() {
+    return m_pixelFormat;
+  }
+
+  /**
+   * Set the PixelFormat of the frame.
+   *
+   * @param pixelFormat The PixelFormat of the frame.
+   */
+  public void setPixelFormat(int pixelFormat) {
+    this.m_pixelFormat = pixelFormat;
+  }
+}